SimpleMissionItem.cc 23.7 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
9 10


11 12 13
#include <QStringList>
#include <QDebug>

14
#include "SimpleMissionItem.h"
15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46
#include "FirmwarePluginManager.h"
#include "QGCApplication.h"
#include "JsonHelper.h"

const double SimpleMissionItem::defaultAltitude =             25.0;

FactMetaData* SimpleMissionItem::_altitudeMetaData =          NULL;
FactMetaData* SimpleMissionItem::_commandMetaData =           NULL;
FactMetaData* SimpleMissionItem::_defaultParamMetaData =      NULL;
FactMetaData* SimpleMissionItem::_frameMetaData =             NULL;
FactMetaData* SimpleMissionItem::_latitudeMetaData =          NULL;
FactMetaData* SimpleMissionItem::_longitudeMetaData =         NULL;

struct EnumInfo_s {
    const char *    label;
    MAV_FRAME       frame;
};

static const struct EnumInfo_s _rgMavFrameInfo[] = {
{ "MAV_FRAME_GLOBAL",                   MAV_FRAME_GLOBAL },
{ "MAV_FRAME_LOCAL_NED",                MAV_FRAME_LOCAL_NED },
{ "MAV_FRAME_MISSION",                  MAV_FRAME_MISSION },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT",      MAV_FRAME_GLOBAL_RELATIVE_ALT },
{ "MAV_FRAME_LOCAL_ENU",                MAV_FRAME_LOCAL_ENU },
{ "MAV_FRAME_GLOBAL_INT",               MAV_FRAME_GLOBAL_INT },
{ "MAV_FRAME_GLOBAL_RELATIVE_ALT_INT",  MAV_FRAME_GLOBAL_RELATIVE_ALT_INT },
{ "MAV_FRAME_LOCAL_OFFSET_NED",         MAV_FRAME_LOCAL_OFFSET_NED },
{ "MAV_FRAME_BODY_NED",                 MAV_FRAME_BODY_NED },
{ "MAV_FRAME_BODY_OFFSET_NED",          MAV_FRAME_BODY_OFFSET_NED },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT",       MAV_FRAME_GLOBAL_TERRAIN_ALT },
{ "MAV_FRAME_GLOBAL_TERRAIN_ALT_INT",   MAV_FRAME_GLOBAL_TERRAIN_ALT_INT },
};
47 48

SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, QObject* parent)
49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64
    : VisualMissionItem(vehicle, parent)
    , _rawEdit(false)
    , _homePositionSpecialCase(false)
    , _showHomePosition(false)
    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
    , _param1MetaData(FactMetaData::valueTypeDouble)
    , _param2MetaData(FactMetaData::valueTypeDouble)
    , _param3MetaData(FactMetaData::valueTypeDouble)
    , _param4MetaData(FactMetaData::valueTypeDouble)
    , _param5MetaData(FactMetaData::valueTypeDouble)
    , _param6MetaData(FactMetaData::valueTypeDouble)
    , _param7MetaData(FactMetaData::valueTypeDouble)
    , _syncingAltitudeRelativeToHomeAndFrame    (false)
    , _syncingHeadingDegreesAndParam4           (false)
    , _missionCommands(qgcApp()->toolbox()->missionCommands())
65
{
66
    _altitudeRelativeToHomeFact.setRawValue(true);
67

68 69 70 71
    _setupMetaData();
    _connectSignals();

    setDefaultsForCommand();
72 73
}

74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92
SimpleMissionItem::SimpleMissionItem(Vehicle* vehicle, const MissionItem& missionItem, QObject* parent)
    : VisualMissionItem(vehicle, parent)
    , _missionItem(missionItem)
    , _rawEdit(false)
    , _dirty(false)
    , _homePositionSpecialCase(false)
    , _showHomePosition(false)
    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
    , _param1MetaData(FactMetaData::valueTypeDouble)
    , _param2MetaData(FactMetaData::valueTypeDouble)
    , _param3MetaData(FactMetaData::valueTypeDouble)
    , _param4MetaData(FactMetaData::valueTypeDouble)
    , _param5MetaData(FactMetaData::valueTypeDouble)
    , _param6MetaData(FactMetaData::valueTypeDouble)
    , _param7MetaData(FactMetaData::valueTypeDouble)
    , _syncingAltitudeRelativeToHomeAndFrame    (false)
    , _syncingHeadingDegreesAndParam4           (false)
    , _missionCommands(qgcApp()->toolbox()->missionCommands())
93
{
94 95 96 97
    _altitudeRelativeToHomeFact.setRawValue(true);

    _setupMetaData();
    _connectSignals();
98

99
    _syncFrameToAltitudeRelativeToHome();
100 101 102
}

SimpleMissionItem::SimpleMissionItem(const SimpleMissionItem& other, QObject* parent)
103 104 105 106 107 108 109 110 111 112 113 114 115 116 117
    : VisualMissionItem(other, parent)
    , _missionItem(other._vehicle)
    , _rawEdit(false)
    , _dirty(false)
    , _homePositionSpecialCase(false)
    , _showHomePosition(false)
    , _altitudeRelativeToHomeFact   (0, "Altitude is relative to home", FactMetaData::valueTypeUint32)
    , _supportedCommandFact         (0, "Command:",                     FactMetaData::valueTypeUint32)
    , _param1MetaData(FactMetaData::valueTypeDouble)
    , _param2MetaData(FactMetaData::valueTypeDouble)
    , _param3MetaData(FactMetaData::valueTypeDouble)
    , _param4MetaData(FactMetaData::valueTypeDouble)
    , _syncingAltitudeRelativeToHomeAndFrame    (false)
    , _syncingHeadingDegreesAndParam4           (false)
    , _missionCommands(qgcApp()->toolbox()->missionCommands())
118
{
119 120
    _setupMetaData();
    _connectSignals();
121

122
    *this = other;
123 124 125 126
}

const SimpleMissionItem& SimpleMissionItem::operator=(const SimpleMissionItem& other)
{
127 128 129 130 131 132 133 134
    static_cast<VisualMissionItem&>(*this) = other;

    setRawEdit(other._rawEdit);
    setDirty(other._dirty);
    setHomePositionSpecialCase(other._homePositionSpecialCase);
    setShowHomePosition(other._showHomePosition);

    _syncFrameToAltitudeRelativeToHome();
135 136 137

    return *this;
}
138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170

void SimpleMissionItem::_connectSignals(void)
{
    // Connect to change signals to track dirty state
    connect(&_missionItem._param1Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._param2Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._param3Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._param4Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._param5Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._param6Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._param7Fact,  &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._frameFact,   &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem._commandFact, &Fact::valueChanged,                    this, &SimpleMissionItem::_setDirtyFromSignal);
    connect(&_missionItem,              &MissionItem::sequenceNumberChanged,    this, &SimpleMissionItem::_setDirtyFromSignal);

    // Values from these facts must propogate back and forth between the real object storage
    connect(&_altitudeRelativeToHomeFact,   &Fact::valueChanged,    this, &SimpleMissionItem::_syncAltitudeRelativeToHomeToFrame);
    connect(&_missionItem._frameFact,       &Fact::valueChanged,    this, &SimpleMissionItem::_syncFrameToAltitudeRelativeToHome);

    // These are coordinate parameters, they must emit coordinateChanged signal
    connect(&_missionItem._param5Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
    connect(&_missionItem._param6Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);
    connect(&_missionItem._param7Fact, &Fact::valueChanged, this, &SimpleMissionItem::_sendCoordinateChanged);

    // The following changes may also change friendlyEditAllowed
    connect(&_missionItem._autoContinueFact,    &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
    connect(&_missionItem._commandFact,         &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);
    connect(&_missionItem._frameFact,           &Fact::valueChanged, this, &SimpleMissionItem::_sendFriendlyEditAllowedChanged);

    // A command change triggers a number of other changes as well.
    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::setDefaultsForCommand);
    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandNameChanged);
    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::commandDescriptionChanged);
171
    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::abbreviationChanged);
172 173 174 175 176 177 178 179 180 181
    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::specifiesCoordinateChanged);
    connect(&_missionItem._commandFact, &Fact::valueChanged, this, &SimpleMissionItem::isStandaloneCoordinateChanged);

    // Whenever these properties change the ui model changes as well
    connect(this, &SimpleMissionItem::commandChanged, this, &SimpleMissionItem::_sendUiModelChanged);
    connect(this, &SimpleMissionItem::rawEditChanged, this, &SimpleMissionItem::_sendUiModelChanged);

    // These fact signals must alway signal out through SimpleMissionItem signals
    connect(&_missionItem._commandFact,     &Fact::valueChanged, this, &SimpleMissionItem::_sendCommandChanged);
    connect(&_missionItem._frameFact,       &Fact::valueChanged, this, &SimpleMissionItem::_sendFrameChanged);
182 183 184

    // Sequence number is kept in mission iteem, so we need to propogate signal up as well
    connect(&_missionItem, &MissionItem::sequenceNumberChanged, this, &SimpleMissionItem::sequenceNumberChanged);
185 186 187 188 189 190 191 192 193 194 195
}

void SimpleMissionItem::_setupMetaData(void)
{
    QStringList enumStrings;
    QVariantList enumValues;

    if (!_altitudeMetaData) {
        _altitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
        _altitudeMetaData->setRawUnits("meters");
        _altitudeMetaData->setDecimalPlaces(2);
196
        _altitudeMetaData->setAppSettingsTranslators();
197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239

        enumStrings.clear();
        enumValues.clear();
        foreach (const MAV_CMD command, _missionCommands->commandsIds()) {
            const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
            enumStrings.append(mavCmdInfo->rawName());
            enumValues.append(QVariant(mavCmdInfo->command()));
        }
        _commandMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
        _commandMetaData->setEnumInfo(enumStrings, enumValues);

        _defaultParamMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
        _defaultParamMetaData->setDecimalPlaces(7);

        enumStrings.clear();
        enumValues.clear();
        for (size_t i=0; i<sizeof(_rgMavFrameInfo)/sizeof(_rgMavFrameInfo[0]); i++) {
            const struct EnumInfo_s* mavFrameInfo = &_rgMavFrameInfo[i];

            enumStrings.append(mavFrameInfo->label);
            enumValues.append(QVariant(mavFrameInfo->frame));
        }
        _frameMetaData = new FactMetaData(FactMetaData::valueTypeUint32);
        _frameMetaData->setEnumInfo(enumStrings, enumValues);

        _latitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
        _latitudeMetaData->setRawUnits("deg");
        _latitudeMetaData->setDecimalPlaces(7);

        _longitudeMetaData = new FactMetaData(FactMetaData::valueTypeDouble);
        _longitudeMetaData->setRawUnits("deg");
        _longitudeMetaData->setDecimalPlaces(7);

    }

    _missionItem._commandFact.setMetaData(_commandMetaData);
    _missionItem._frameFact.setMetaData(_frameMetaData);
}

SimpleMissionItem::~SimpleMissionItem()
{    
}

240
void SimpleMissionItem::save(QJsonObject& saveObject) const
241
{
242
    _missionItem.save(saveObject);
243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294
}

bool SimpleMissionItem::load(QTextStream &loadStream)
{
    return _missionItem.load(loadStream);
}

bool SimpleMissionItem::load(const QJsonObject& json, QString& errorString)
{
    return _missionItem.load(json, errorString);
}

bool SimpleMissionItem::isStandaloneCoordinate(void) const
{
    if (_missionCommands->contains((MAV_CMD)command())) {
        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->isStandaloneCoordinate();
    } else {
        return false;
    }
}

bool SimpleMissionItem::specifiesCoordinate(void) const
{
    if (_missionCommands->contains((MAV_CMD)command())) {
        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->specifiesCoordinate();
    } else {
        return false;
    }
}

QString SimpleMissionItem::commandDescription(void) const
{
    if (_missionCommands->contains((MAV_CMD)command())) {
        return _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->description();
    } else {
        qWarning() << "Should not ask for command description on unknown command";
        return commandName();
    }
}

QString SimpleMissionItem::commandName(void) const
{
    MAV_CMD command = (MAV_CMD)this->command();
    if (_missionCommands->contains(command)) {
        const MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
        return mavCmdInfo->friendlyName().isEmpty() ? mavCmdInfo->rawName() : mavCmdInfo->friendlyName();
    } else {
        qWarning() << "Request for command name on unknown command";
        return QString("Unknown: %1").arg(command);
    }
}

295 296 297 298 299 300 301 302 303 304 305 306 307 308 309
QString SimpleMissionItem::abbreviation() const
{
    if (homePosition())
        return QStringLiteral("H");

    switch(command()) {
    default:
        return QString::number(sequenceNumber());
    case MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF:
        return QStringLiteral("T");
    case MavlinkQmlSingleton::MAV_CMD_NAV_LAND:
        return QStringLiteral("L");
    }
}

310 311 312
void SimpleMissionItem::_clearParamMetaData(void)
{
    _param1MetaData.setRawUnits("");
313
    _param1MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
314
    _param1MetaData.setBuiltInTranslator();
315
    _param2MetaData.setRawUnits("");
316
    _param2MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
317
    _param2MetaData.setBuiltInTranslator();
318
    _param3MetaData.setRawUnits("");
319
    _param3MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
320
    _param3MetaData.setBuiltInTranslator();
321
    _param4MetaData.setRawUnits("");
322
    _param4MetaData.setDecimalPlaces(FactMetaData::unknownDecimalPlaces);
323
    _param4MetaData.setBuiltInTranslator();
324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377
}

QmlObjectListModel* SimpleMissionItem::textFieldFacts(void)
{
    QmlObjectListModel* model = new QmlObjectListModel(this);
    
    if (rawEdit()) {
        _missionItem._param1Fact._setName("Param1:");
        _missionItem._param1Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param1Fact);
        _missionItem._param2Fact._setName("Param2:");
        _missionItem._param2Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param2Fact);
        _missionItem._param3Fact._setName("Param3:");
        _missionItem._param3Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param3Fact);
        _missionItem._param4Fact._setName("Param4:");
        _missionItem._param4Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param4Fact);
        _missionItem._param5Fact._setName("Lat/X:");
        _missionItem._param5Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param5Fact);
        _missionItem._param6Fact._setName("Lon/Y:");
        _missionItem._param6Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param6Fact);
        _missionItem._param7Fact._setName("Alt/Z:");
        _missionItem._param7Fact.setMetaData(_defaultParamMetaData);
        model->append(&_missionItem._param7Fact);
    } else {
        _clearParamMetaData();

        MAV_CMD command;
        if (_homePositionSpecialCase) {
            command = MAV_CMD_NAV_LAST;
        } else {
            command = _missionItem.command();
        }

        Fact*           rgParamFacts[7] =       { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };

        bool altitudeAdded = false;
        for (int i=1; i<=7; i++) {
            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();

            if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() == 0) {
                Fact*               paramFact =     rgParamFacts[i-1];
                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
                MavCmdParamInfo*    paramInfo =     paramInfoMap[i];

                paramFact->_setName(paramInfo->label());
                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
                paramMetaData->setRawUnits(paramInfo->units());
378
                paramMetaData->setAppSettingsTranslators();
379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490 491 492 493 494 495 496 497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592
                paramFact->setMetaData(paramMetaData);
                model->append(paramFact);

                if (i == 7) {
                    altitudeAdded = true;
                }
            }
        }

        if (specifiesCoordinate() && !altitudeAdded) {
            _missionItem._param7Fact._setName("Altitude:");
            _missionItem._param7Fact.setMetaData(_altitudeMetaData);
            model->append(&_missionItem._param7Fact);
        }
    }
    
    return model;
}

QmlObjectListModel* SimpleMissionItem::checkboxFacts(void)
{
    QmlObjectListModel* model = new QmlObjectListModel(this);
    

    if (rawEdit()) {
        model->append(&_missionItem._autoContinueFact);
    } else if (specifiesCoordinate() && !_homePositionSpecialCase) {
        model->append(&_altitudeRelativeToHomeFact);
    }

    return model;
}

QmlObjectListModel* SimpleMissionItem::comboboxFacts(void)
{
    QmlObjectListModel* model = new QmlObjectListModel(this);

    if (rawEdit()) {
        model->append(&_missionItem._commandFact);
        model->append(&_missionItem._frameFact);
    } else {
        Fact*           rgParamFacts[7] =       { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };
        FactMetaData*   rgParamMetaData[7] =    { &_param1MetaData, &_param2MetaData, &_param3MetaData, &_param4MetaData, &_param5MetaData, &_param6MetaData, &_param7MetaData };

        MAV_CMD command;
        if (_homePositionSpecialCase) {
            command = MAV_CMD_NAV_LAST;
        } else {
            command = (MAV_CMD)this->command();
        }

        for (int i=1; i<=7; i++) {
            const QMap<int, MavCmdParamInfo*>& paramInfoMap = _missionCommands->getMavCmdInfo(command, _vehicle)->paramInfoMap();

            if (paramInfoMap.contains(i) && paramInfoMap[i]->enumStrings().count() != 0) {
                Fact*               paramFact =     rgParamFacts[i-1];
                FactMetaData*       paramMetaData = rgParamMetaData[i-1];
                MavCmdParamInfo*    paramInfo =     paramInfoMap[i];

                paramFact->_setName(paramInfo->label());
                paramMetaData->setDecimalPlaces(paramInfo->decimalPlaces());
                paramMetaData->setEnumInfo(paramInfo->enumStrings(), paramInfo->enumValues());
                paramMetaData->setRawUnits(paramInfo->units());
                paramFact->setMetaData(paramMetaData);
                model->append(paramFact);
            }
        }
    }

    return model;
}

bool SimpleMissionItem::friendlyEditAllowed(void) const
{
    if (_missionCommands->contains((MAV_CMD)command()) && _missionCommands->getMavCmdInfo((MAV_CMD)command(), _vehicle)->friendlyEdit()) {
        if (!_missionItem.autoContinue()) {
            return false;
        }

        if (specifiesCoordinate()) {
            return _missionItem.frame() == MAV_FRAME_GLOBAL || _missionItem.frame() == MAV_FRAME_GLOBAL_RELATIVE_ALT;
        }

        return true;
    }

    return false;
}

bool SimpleMissionItem::rawEdit(void) const
{
    return _rawEdit || !friendlyEditAllowed();
}

void SimpleMissionItem::setRawEdit(bool rawEdit)
{
    if (this->rawEdit() != rawEdit) {
        _rawEdit = rawEdit;
        emit rawEditChanged(this->rawEdit());
    }
}

void SimpleMissionItem::setDirty(bool dirty)
{
    if (!_homePositionSpecialCase || !dirty) {
        // Home position never affects dirty bit

        _dirty = dirty;
        // We want to emit dirtyChanged even if _dirty didn't change. This can be handy signal for
        // any value within the item changing.
        emit dirtyChanged(_dirty);
    }
}

void SimpleMissionItem::_setDirtyFromSignal(void)
{
    setDirty(true);
}

void SimpleMissionItem::_sendCoordinateChanged(void)
{
    emit coordinateChanged(coordinate());
}

void SimpleMissionItem::_syncAltitudeRelativeToHomeToFrame(const QVariant& value)
{
    if (!_syncingAltitudeRelativeToHomeAndFrame) {
        _syncingAltitudeRelativeToHomeAndFrame = true;
        _missionItem.setFrame(value.toBool() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL);
        _syncingAltitudeRelativeToHomeAndFrame = false;
    }
}

void SimpleMissionItem::_syncFrameToAltitudeRelativeToHome(void)
{
    if (!_syncingAltitudeRelativeToHomeAndFrame) {
        _syncingAltitudeRelativeToHomeAndFrame = true;
        _altitudeRelativeToHomeFact.setRawValue(relativeAltitude());
        _syncingAltitudeRelativeToHomeAndFrame = false;
    }
}

void SimpleMissionItem::setDefaultsForCommand(void)
{
    // We set these global defaults first, then if there are param defaults they will get reset
    _missionItem.setParam7(defaultAltitude);

    MAV_CMD command = (MAV_CMD)this->command();
    if (_missionCommands->contains(command)) {
        MavCmdInfo* mavCmdInfo = _missionCommands->getMavCmdInfo(command, _vehicle);
        foreach (const MavCmdParamInfo* paramInfo, mavCmdInfo->paramInfoMap()) {
            Fact* rgParamFacts[7] = { &_missionItem._param1Fact, &_missionItem._param2Fact, &_missionItem._param3Fact, &_missionItem._param4Fact, &_missionItem._param5Fact, &_missionItem._param6Fact, &_missionItem._param7Fact };

            rgParamFacts[paramInfo->param()-1]->setRawValue(paramInfo->defaultValue());
        }
    }

    if (command == MAV_CMD_NAV_WAYPOINT) {
        // We default all acceptance radius to 0. This allows flight controller to be in control of
        // accept radius.
        _missionItem.setParam2(0);
    }

    _missionItem.setAutoContinue(true);
    _missionItem.setFrame(specifiesCoordinate() ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_MISSION);
    setRawEdit(false);
}

void SimpleMissionItem::_sendUiModelChanged(void)
{
    emit uiModelChanged();
}

void SimpleMissionItem::_sendFrameChanged(void)
{
    emit frameChanged(_missionItem.frame());
}

void SimpleMissionItem::_sendCommandChanged(void)
{
    emit commandChanged(command());
}

void SimpleMissionItem::_sendFriendlyEditAllowedChanged(void)
{
    emit friendlyEditAllowedChanged(friendlyEditAllowed());
}

QString SimpleMissionItem::category(void) const
{
    return qgcApp()->toolbox()->missionCommands()->categoryFromCommand(command());
}

void SimpleMissionItem::setShowHomePosition(bool showHomePosition)
{
    if (showHomePosition != _showHomePosition) {
        _showHomePosition = showHomePosition;
        emit showHomePositionChanged(_showHomePosition);
    }
}

void SimpleMissionItem::setCommand(MavlinkQmlSingleton::Qml_MAV_CMD command)
{
    if ((MAV_CMD)command != _missionItem.command()) {
        _missionItem.setCommand((MAV_CMD)command);
    }
}

void SimpleMissionItem::setCoordinate(const QGeoCoordinate& coordinate)
{
    if (_missionItem.coordinate() != coordinate) {
        _missionItem.setCoordinate(coordinate);
    }
}
593 594 595 596 597

void SimpleMissionItem::setSequenceNumber(int sequenceNumber)
{
    _missionItem.setSequenceNumber(sequenceNumber);
}